/*!
 * \file pcps_tong_acquisition_cc.h
 * \brief This class implements a Parallel Code Phase Search Acquisition with
 * Tong algorithm.
 * \author Marc Molina, 2013. marc.molina.pena(at)gmail.com
 *
 *  Acquisition strategy (Kaplan book + CFAR threshold).
 *  <ol>
 *  <li> Compute the input signal power estimation.
 *  <li> Doppler serial search loop.
 *  <li> Perform the FFT-based circular convolution (parallel time search).
 *  <li> Compute the tests statistics for all the cells.
 *  <li> Accumulate the grid of tests statistics with the previous grids.
 *  <li> Record the maximum peak and the associated synchronization parameters.
 *  <li> Compare the maximum averaged test statistics with a threshold.
 *  <li> If the test statistics exceeds the threshold, increment the Tong counter.
 *  <li>   Otherwise, decrement the Tong counter.
 *  <li> If the Tong counter is equal to a given maximum value, declare positive
 *  <li>   acquisition. If the Tong counter is equa to zero, declare negative
 *  <li>   acquisition. Otherwise, process the next block.
 *  </ol>
 *
 * Kaplan book: D.Kaplan, J.Hegarty, "Understanding GPS. Principles
 * and Applications", Artech House, 2006, pp 223-227
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2012  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#include "pcps_tong_acquisition_cc.h"
#include "gnss_signal_processing.h"
#include "control_message_factory.h"
#include <gnuradio/io_signature.h>
#include <sstream>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <volk/volk.h>

using google::LogMessage;

pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
                              unsigned int sampled_ms, unsigned int doppler_max,
                              long freq, long fs_in, int samples_per_ms,
                              int samples_per_code, unsigned int tong_init_val,
                              unsigned int tong_max_val, gr::msg_queue::sptr queue,
                              bool dump, std::string dump_filename)
{
    return pcps_tong_acquisition_cc_sptr(
            new pcps_tong_acquisition_cc(sampled_ms, doppler_max, freq, fs_in, samples_per_ms, samples_per_code,
                                    tong_init_val, tong_max_val, queue, dump, dump_filename));
}


pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
                         unsigned int sampled_ms, unsigned int doppler_max,
                         long freq, long fs_in, int samples_per_ms,
                         int samples_per_code, unsigned int tong_init_val,
                         unsigned int tong_max_val, gr::msg_queue::sptr queue,
                         bool dump, std::string dump_filename) :
    gr::block("pcps_tong_acquisition_cc",
    gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
    gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
    d_sample_counter = 0;    // SAMPLE COUNTER
    d_active = false;
    d_state = 0;
    d_queue = queue;
    d_freq = freq;
    d_fs_in = fs_in;
    d_samples_per_ms = samples_per_ms;
    d_samples_per_code = samples_per_code;
    d_sampled_ms = sampled_ms;
    d_well_count = 0;
    d_tong_max_val = tong_max_val;
    d_tong_init_val = tong_init_val;
    d_tong_count = d_tong_init_val;
    d_doppler_max = doppler_max;
    d_fft_size = d_sampled_ms * d_samples_per_ms;
    d_mag = 0;
    d_input_power = 0.0;
    d_num_doppler_bins = 0;

    //todo: do something if posix_memalign fails
    if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
    if (posix_memalign((void**)&d_magnitude, 16, d_fft_size * sizeof(gr_complex)) == 0){};

    // Direct FFT
    d_fft_if = new gr::fft::fft_complex(d_fft_size, true);

    // Inverse FFT
    d_ifft = new gr::fft::fft_complex(d_fft_size, false);

    // For dumping samples into a file
    d_dump = dump;
    d_dump_filename = dump_filename;
}


pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
{

    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
        {
            free(d_grid_doppler_wipeoffs[doppler_index]);
            free(d_grid_data[doppler_index]);
        }


    if (d_num_doppler_bins > 0)
        {
            delete[] d_grid_doppler_wipeoffs;
            delete[] d_grid_data;
        }

    free(d_fft_codes);
    free(d_magnitude);

    delete d_ifft;
    delete d_fft_if;

    if (d_dump)
        {
            d_dump_file.close();
        }
}


void pcps_tong_acquisition_cc::set_local_code(std::complex<float> * code)
{
    memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size);

    d_fft_if->execute(); // We need the FFT of local code

    //Conjugate the local code
    if (is_unaligned())
        {
            volk_32fc_conjugate_32fc_u(d_fft_codes,d_fft_if->get_outbuf(),d_fft_size);
        }
    else
        {
            volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(),d_fft_size);
        }
}


void pcps_tong_acquisition_cc::init()
{
    d_gnss_synchro->Acq_delay_samples = 0.0;
    d_gnss_synchro->Acq_doppler_hz = 0.0;
    d_gnss_synchro->Acq_samplestamp_samples = 0;
    d_mag = 0.0;
    d_input_power = 0.0;

    // Create the carrier Doppler wipeoff signals
    d_num_doppler_bins = 0;//floor(2*std::abs((int)d_doppler_max)/d_doppler_step);
    for (int doppler = (int)(-d_doppler_max); doppler <= (int)d_doppler_max; doppler += d_doppler_step)
    {
        d_num_doppler_bins++;
    }
    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
    d_grid_data = new float*[d_num_doppler_bins];
    for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
        {
            if (posix_memalign((void**)&(d_grid_doppler_wipeoffs[doppler_index]), 16,
                               d_fft_size * sizeof(gr_complex)) == 0){};

            int doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;

            complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index],
                                 d_freq + doppler, d_fs_in, d_fft_size);

            if (posix_memalign((void**)&(d_grid_data[doppler_index]), 16,
                               d_fft_size * sizeof(float)) == 0){};

            for (unsigned int i = 0; i < d_fft_size; i++)
                {
                    d_grid_data[doppler_index][i] = 0;
                }
        }
}


int pcps_tong_acquisition_cc::general_work(int noutput_items,
        gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
        gr_vector_void_star &output_items)
{

    int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL

    switch (d_state)
    {
    case 0:
        {
            if (d_active)
                {
                    //restart acquisition variables
                    d_gnss_synchro->Acq_delay_samples = 0.0;
                    d_gnss_synchro->Acq_doppler_hz = 0.0;
                    d_gnss_synchro->Acq_samplestamp_samples = 0;
                    d_well_count = 0;
                    d_tong_count = d_tong_init_val;
                    d_mag = 0.0;
                    d_input_power = 0.0;
                    d_test_statistics = 0.0;

                    for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
                        {
                            for (unsigned int i = 0; i < d_fft_size; i++)
                                {
                                    d_grid_data[doppler_index][i] = 0;
                                }
                        }

                    d_state = 1;
                }

            d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
            consume_each(ninput_items[0]);

            break;
        }

    case 1:
        {
            // initialize acquisition algorithm
            int doppler;
            unsigned int indext = 0;
            float magt = 0.0;
            const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
            float fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
            d_input_power = 0.0;
            d_mag = 0.0;

            d_sample_counter += d_fft_size; // sample counter

            d_well_count++;

            DLOG(INFO) << "Channel: " << d_channel
                    << " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
                    << " ,sample stamp: " << d_sample_counter << ", threshold: "
                    << d_threshold << ", doppler_max: " << d_doppler_max
                    << ", doppler_step: " << d_doppler_step;

            // 1- Compute the input signal power estimation
            volk_32fc_magnitude_squared_32f_a(d_magnitude, in, d_fft_size);
            volk_32f_accumulator_s32f_a(&d_input_power, d_magnitude, d_fft_size);
            d_input_power /= (float)d_fft_size;

            // 2- Doppler frequency search loop
            for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
                {
                    // doppler search steps

                    doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;

                    volk_32fc_x2_multiply_32fc_a(d_fft_if->get_inbuf(), in,
                                d_grid_doppler_wipeoffs[doppler_index], d_fft_size);

                    // 3- Perform the FFT-based convolution  (parallel time search)
                    // Compute the FFT of the carrier wiped--off incoming signal
                    d_fft_if->execute();

                    // Multiply carrier wiped--off, Fourier transformed incoming signal
                    // with the local FFT'd code reference using SIMD operations with VOLK library
                    volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
                                d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);

                    // compute the inverse FFT
                    d_ifft->execute();

                    // Search maximum
                    volk_32fc_magnitude_squared_32f_a(d_magnitude, d_ifft->get_outbuf(), d_fft_size);

                    volk_32f_s32f_multiply_32f_a(d_magnitude, d_magnitude,
                                                1/(fft_normalization_factor*fft_normalization_factor*d_input_power),
                                                d_fft_size);

                    volk_32f_x2_add_32f_a(d_grid_data[doppler_index], d_magnitude, d_grid_data[doppler_index], d_fft_size);

                    volk_32f_index_max_16u_a(&indext, d_grid_data[doppler_index], d_fft_size);

                    // Normalize the maximum value to correct the scale factor introduced by FFTW
                    magt = d_grid_data[doppler_index][indext];

                    // 4- record the maximum peak and the associated synchronization parameters
                    if (d_mag < magt)
                        {
                            d_mag = magt;
                            d_gnss_synchro->Acq_delay_samples = (double)(indext % d_samples_per_code);
                            d_gnss_synchro->Acq_doppler_hz = (double)doppler;
                            d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
                        }

                    // Record results to file if required
                    if (d_dump)
                        {
                            std::stringstream filename;
                            std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
                            filename.str("");
                            filename << "../data/test_statistics_" << d_gnss_synchro->System
                                     <<"_" << d_gnss_synchro->Signal << "_sat_"
                                     << d_gnss_synchro->PRN << "_doppler_" <<  doppler << ".dat";
                            d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
                            d_dump_file.write((char*)d_ifft->get_outbuf(), n); //write directly |abs(x)|^2 in this Doppler bin?
                            d_dump_file.close();
                        }
                }

            // 5- Compute the test statistics and compare to the threshold
            //d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
            d_test_statistics = d_mag;

            if (d_test_statistics > d_threshold*d_well_count)
                {
                    d_tong_count++;
                    if (d_tong_count == d_tong_max_val)
                        {
                            d_state = 2; // Positive acquisition
                        }
                }
            else
                {
                    d_tong_count--;
                    if (d_tong_count == 0)
                        {
                            d_state = 3; // Negative acquisition
                        }
                }

            consume_each(1);

            break;
        }

    case 2:
        {
            // 6.1- Declare positive acquisition using a message queue
            DLOG(INFO) << "positive acquisition";
            DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
            DLOG(INFO) << "sample_stamp " << d_sample_counter;
            DLOG(INFO) << "test statistics value " << d_test_statistics;
            DLOG(INFO) << "test statistics threshold " << d_threshold;
            DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
            DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
            DLOG(INFO) << "magnitude " << d_mag;
            DLOG(INFO) << "input signal power " << d_input_power;

            d_active = false;
            d_state = 0;

            d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
            consume_each(ninput_items[0]);

            acquisition_message = 1;
            d_channel_internal_queue->push(acquisition_message);

            break;
        }

    case 3:
        {
            // 6.2- Declare negative acquisition using a message queue
            DLOG(INFO) << "negative acquisition";
            DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
            DLOG(INFO) << "sample_stamp " << d_sample_counter;
            DLOG(INFO) << "test statistics value " << d_test_statistics;
            DLOG(INFO) << "test statistics threshold " << d_threshold;
            DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
            DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
            DLOG(INFO) << "magnitude " << d_mag;
            DLOG(INFO) << "input signal power " << d_input_power;

            d_active = false;
            d_state = 0;

            d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
            consume_each(ninput_items[0]);

            acquisition_message = 2;
            d_channel_internal_queue->push(acquisition_message);

            break;
        }
    }

    return 0;
}